CN103659821A - An apparatus for providing haptic feedback to a teach pendant and related method - Google Patents
An apparatus for providing haptic feedback to a teach pendant and related method Download PDFInfo
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- CN103659821A CN103659821A CN201310404564.7A CN201310404564A CN103659821A CN 103659821 A CN103659821 A CN 103659821A CN 201310404564 A CN201310404564 A CN 201310404564A CN 103659821 A CN103659821 A CN 103659821A
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- haptic
- teaching machine
- robot
- signal
- processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36162—Pendant control box
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40132—Haptic joystick with force feedback based on accelerometer included in joystick
Abstract
An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.
Description
The cross reference of related application
The application requires the U.S. Provisional Patent Application sequence number No.61/697 submitting on September 6th, 2012,600 priority, and its whole content is incorporated herein by reference.
Technical field
The present invention relates to the teaching machine for robot (or automatics).More particularly, the present invention relates to a kind of for the apparatus and method of tactile feedback with some state of warning operator system are provided on teaching machine.
Background technology
Be known that the haptic device that utilizes active force feedback form in operation and robot field of remote control.Conventionally, haptic device is to grip to guide mechanical chirokinesthetic control stick or similar installation form by operator.The physical location of the control device gripping due to operator is directly relevant to the motion of actuating device, so operator directly feels tactile feedback.
U.S. Patent No. 8,095,200 have described haptic device for the operating System and method for of computer-aided.This haptic device is as input unit, and permission information is sent to computer-aided surgical system from user.It can approach for how much of anatomical references of restriction, the position of handling virtual implantation piece and/or orientation, manipulation of surgical position and/or orientation, the position of manipulation osteotomy and/or selection or the layout of orientation and any other dissection or operation feature of track.Haptic device is the sensory information and user interaction and the machinery of communicating by letter or electromechanical assembly utilizing such as touching, active force, speed, position and/or torque.
Haptic device is provided information and has been incorporated in pager and has been applicable to modern smart mobile phone for user by touching.These install by varying strength, frequency, undisturbedly notify customer incident or other discovery with the vibration of pattern.By touching, for providing the haptic device of other prior art of information, user comprises the electronic game controller that sense of touch torque wrench, effect force feedback touch feeling instruction device, vibration grip bar code reader and have " two shake ".
Prior art does not comprise use and the common operation that do not relate to the teaching machine that by pressing key with control move of haptic device in industrial machinery people environment.Prior art does not relate to robot and contacts with equipment or order robot to carry out excessively too drasticly when mobile or when teaching machine, making the notice while entering mistake.Prior art do not relate to approach interference range, for the welding gun angle of the robot that welds or reach certain orientation or the notice of other tool angle of position.
Notifying device for industrial robot comprises audible alarm, and this audible alarm is difficult to hear in the noisy environment of plant.In addition, visual alarm is also for industrial robot.Yet unless user directly observes teaching machine, otherwise visual alarm signal is not discovered by user.The notice of missing event or environment may cause comprising that quality reduction, production delay increase and cost are increased in the reduction of interior production capacity.
Therefore the tactile feedback that, needs a kind of apparatus and method to be provided for industrial robot postpones and cost to improve production capacity and quality and to reduce in order to the interaction improving between user and their teaching machine.
Summary of the invention
According to current open, the improved apparatus and method that tactile feedback is provided on teaching machine have been disclosed in surprise.
In embodiments of the present invention, disclose a kind of for tactile feedback being provided to the device of teaching machine.This device comprises: have housing and the teaching machine that is arranged in processor wherein, processor is communicated by letter (by signal, communicating by letter) with automatics controller signals, and robot controller is configured to monitor and control robot; Be arranged at least one haptic device on teaching machine, this haptic device is communicated by letter with processor signal and is configured to, when there is haptic events, tactile feedback is provided to user by teaching machine; And the sense of touch software of communicating by letter with described haptic device signal.
In yet another embodiment of the present invention, for tactile feedback being provided to the device of teaching machine, comprise: teaching machine, it has housing and is arranged in processor wherein, and processor is communicated by letter with robot controller signals, and robot controller is configured to monitor and control robot; Be arranged at least one haptic device on teaching machine, haptic device is communicated by letter with processor signal and is configured to, when there is haptic events, tactile feedback is provided to user; And the sense of touch software program of communicating by letter with described haptic device signal, described sense of touch software program has haptic events monitor, haptic events processor and haptic effect generator, and wherein haptic events processor receives from the signal of haptic events monitor and signal is provided to haptic effect generator signal is provided to at least one haptic device when there is haptic events.
In yet another embodiment of the present invention, disclose a kind of for the method for tactile feedback is provided on teaching machine.The method comprising the steps of: by the sense of touch software program that is configured to communicate by letter with robot controller, detect at least one haptic events, robot controller is configured to control and monitor robot; Send signal to the haptic device being arranged on teaching machine, this signal is corresponding with at least one haptic events; And by haptic device, by teaching machine, produce tactile feedback, the signal that tactile feedback receives based on haptic device.
Accompanying drawing explanation
When considering with reference to the accompanying drawings, by detailed description of the preferred embodiment below, for a person skilled in the art, above-mentioned and other advantage of the present invention will become apparent.
Fig. 1 shows the front view of exemplary teaching machine according to the embodiment of the present invention;
Fig. 2 shows the schematic diagram of the robot system of the teaching machine that is combined with Fig. 1;
Fig. 3 a-Fig. 3 c illustrates the schematic diagram of exemplary robotic state according to the embodiment of the present invention, wherein has the teaching machine of haptic device for feedback is provided; And
Fig. 4 shows for the flow chart of the method for tactile feedback is provided.
The specific embodiment
A plurality of illustrative embodiments of the present invention is described and shown to detailed description below and accompanying drawing.Describe with accompanying drawing and be used for making those of skill in the art can manufacture and use the present invention, and be not intended to limit by any way scope of the present invention.About disclosed method, the step illustrating is exemplary in essence, and therefore, the order of step is dispensable or strict.
The present invention relates to a kind of apparatus and method, when there is some situation, these apparatus and method offer programmer or user by robot teaching device by tactile feedback.Teaching machine 10 according to embodiment of the present invention has been shown in Fig. 1 and Fig. 2.Teaching machine 10 is to be configured to control Huo Gei robot 30 give an order with mobile user interface and comprise the processor 12 that can operate teaching machine 10.The processor 12 of teaching machine 10 is connected to input unit 14 for inputting data, for programming and the memory 16 of data storage and the display 18 that feedback is provided to user.Input unit 14 can be keyboard.It should be understood, however, that input unit 14 can be the interactive display such as touch-screen, it allows user and teaching machine 10 or carries out interaction for teaching machine 10 provides any other device of input.Teaching machine 10 shown in Fig. 1 is hand-held devices.It should be understood, however, that teaching machine 10 can be to be configured to control any user interface device such as the robot 30 of portable or desktop computer.
As shown in Figure 2, teaching machine 10 is configured to and robot controller 32 wired or wireless communications.Robot controller 32 comprises processor 34 and memory 36, for programming and data storage.Robot controller 32 is connected to robot 30 to control on one's own initiative and to monitor robot movable.In operation, user can be input to instruction or data in the input unit 14 of teaching machine 10.This instruction is sent to robot controller 32, and it is then according to the instruction control 30 of input.State and the positional information of robot controller 32 and teaching machine 10 transfer robots 30.This information can be provided on the display 18 of teaching machine 10.
In embodiment shown in Figure 1, teaching machine 10 comprises haptic device disposed thereon 22.Haptic device 22 is the tactile vibrations devices such as actuator, and it produces mechanical movement so that active force or vibration are applied to the device that user can feel in response to electro photoluminescence.Haptic device 22 is attached in teaching machine 10 and is configured to provide teaching machine 10 enough vibrations that can transmit.Therefore,, although vibration source may not be positioned under teaching machine 10 regions that user grips, when teaching machine 10 activated (or triggering) and thinks that user provides touching sensation, this vibration transmits by the housing of teaching machine.
In the embodiment illustrating, haptic device 22a can be arranged on the teaching machine 10 in the band 50 of teaching machine 10, to produce user's touching sensation when the event of generation.Band 50 is connected to teaching machine 10 to facilitate its operation.In addition, teaching machine 10 comprises the housing 24 of the internals (not shown) that is configured to keep teaching machine 10.Haptic device 22b can be arranged in the housing 24 of teaching machine 10.It should be understood, however, that haptic device 22 can be arranged on any position on teaching machine 10 to feel for user produces enough touchings.In unrestricted example, haptic device 22 can be arranged in the outside of teaching machine 10 housings 24 or optionally be arranged in any position on teaching machine 10.In addition, teaching machine 10 can also comprise any amount of haptic device 22.
As shown in Figure 2, robot controller 32 storage construct are robot 30 activities of supervisory user specified conditions and the sense of touch software program 40 that feedback is provided to haptic device 22.In embodiments of the present invention, sense of touch software program 40 can comprise haptic events monitor 42, haptic events processor 44 and haptic effect generator 46.In operation, for example, teaching machine 10 is provided to sense of touch software program 40 to start to monitor haptic events by haptic system initialize signal.Haptic events monitor 42 detects the generation (it can be the predetermined movement of robot 30 or the particular data that user inputs by input unit 14) of haptic events, and signal is provided to haptic events processor 44, and this processor is provided to haptic effect generator 46 by signal.Haptic effect generator 46 provides signal by robot controller 32, with triggering haptic device 22, to be held the user of teaching machine 10, feels.A part that it should be understood that sense of touch software program 40 or sense of touch software program 40 also can be stored on teaching machine 10.
Fig. 3 a-Fig. 3 c shows exemplary robot situation, and it can comprise the sense of touch teaching machine 10 with haptic device 22.In fine motion or programming operations process, can use the teaching machine 10 with haptic device 22 according to robot speed and robot positioning security surveillance.As shown in Fig. 3 a, the teaching machine 10 with haptic device 22 can be used to have the robot 30 of mechanical hand 38 and be programmed in the interior operation of interference range 20.The program regions that interference range 20Shi robot 30 is confined to wherein operate, and if robot 30 in the peripheral operation of interference range 20, robot 30 is by the motor power that slows down or cut off robot 30 so.When using according to this operation, when robot 30 approaches any outer limit of interference range 20 in specific range, can trigger the haptic device 22 of teaching machine 10.For example, if just in any outer limit of interference range 20 mechanical hand 38 reach the specific range of 2 feet so can triggering haptic device 22.It should be understood, however, that this specific distance can be to be greater than or less than any distance of 2 feet.In the embodiment illustrating, manipulator 38 is the ends for the arm instrument of welding operation.Yet for example, manipulator 38 can be any instrument for any robot manipulation such as material operation, machining, spraying, palletizing or the operation of any industrial robot.
In yet another embodiment of the present invention, in the margin of tolerance of manipulator 38 at specific direction, can triggering haptic device 22.In the non-limiting example shown in Fig. 3 b, when manipulator 38 is positioned in the specific direction of world coordinates or framework user axle X, Y, Z, such as when the approaching vector V and be parallel to world coordinates axle or framework user axle of manipulator 38, can triggering haptic device 22.(not shown) in another non-limiting example, can triggering haptic device 22 when being combined with welding manipulator, thereby, positioning welding machinery hand triggering haptic device 22 when forming specific welding gun angle in welding operation process.
Can carry out triggering haptic device 22 according to any machine speed and desired position application.For example, in the embodiment shown in Fig. 3 c, can triggering haptic device 22 when coming in contact between robot 30 and parts 48 or equipment.The parts 48 that illustrate are in the drawings car bodies.Yet parts 48 can be at any manufacture process, process, packaging process or any parts or equipment that in utilizing any other process of robot, robot can contact.In other non-limiting example (not shown), when tool center point (TCP) is when near ad-hoc location or in specific location, or when robot 30 completes single step campaign (single-step motion), or robot 30 in motion in time, can triggering haptic device 22.
As shown in Figure 4, provide the method that tactile feedback is provided according to embodiment.Shown in step 100, user programmes with by providing feedback to haptic events by teaching machine 10 by tactile feedback mode assignments to haptic device 22.By sense of touch software program 40, provide the distribution of tactile feedback pattern to haptic events.Haptic events is to select event, any in position or situation, such as manipulator, approach interference range or robot boundary, excessively radical robot motion's detection, the directional detection of the manipulator in specific direction tolerance, approach the detection of the tool center point of ad-hoc location, contacting between robot and parts or equipment, completing of robot single step campaign, any robot motion's generation, robot is in the detection of the extraneous operation of acceptable programme, incorrect or incorrect teaching machine input, there is the indication that user limits alarm, or may require any other event of tactile feedback, position, or situation.
Shown in step 110, the haptic events monitor 42 of sense of touch software program 40 is for monitoring the generation of selected haptic events.When there is haptic events as shown in step 112, haptic events monitor 42 detects haptic events and communicates by letter to process with haptic events processor 44 the tactile feedback pattern that is assigned to the corresponding haptic events that haptic events monitor 42 detects.In step 114, haptic events processor 44 communicates by letter by robot controller 32, to send signal to haptic device 22 to produce the tactile feedback to user by teaching machine 10 with haptic effect generator 46.Haptic effect generator 46 according to and corresponding the distributed tactile feedback mode producing tactile feedback of haptic events, so user can feel the haptic events that vibration and identification have occurred.
In embodiments of the present invention, the generation of tactile feedback can comprise additional signal, and the sensory signal of all audible signals as expected and visual signal or any other type, to be provided to user by feedback.Signal can be incorporated in teaching machine 10.For example, visual signal may be displayed on the display 18 of teaching machine 10 and from teaching machine 10 and produces audible signals.It should be understood that signal can be show or be created in any sensory signal Anywhere (such as alarm, light, demonstration on computers) or feedback be provided to desired any other sensory signal of user.
According to the regulation of Patent Law, in being considered to represent the preferred embodiment of the present invention, invention has been described.Yet, should be noted that in the situation that not departing from spirit of the present invention and scope, except specifically illustrate with describe, can implement in addition the present invention.
Claims (20)
1. for tactile feedback being provided to a device for teaching machine, comprising:
Teaching machine, has housing and is arranged in the processor in described housing, and described processor is communicated by letter with robot controller signal, and described robot controller is configured to monitor and control;
Be arranged at least one haptic device on described teaching machine, described at least one haptic device is communicated by letter with described processor signal and is configured to when there is haptic events, tactile feedback is provided to the user of described teaching machine; And
Sense of touch software program, by at least one in described processor and described robot controller, carry out described sense of touch software program, to control, described processor is communicated by letter with the described signal between described robot controller and described processor is communicated by letter with the described signal between described at least one haptic device.
2. device according to claim 1, wherein said at least one haptic device is in actuator and vibrating motor.
3. device according to claim 1, wherein said sense of touch software program is stored in in described robot controller and described teaching machine.
4. teaching machine according to claim 1, wherein said haptic events is one of following items:
Manipulator approaches interference range;
Manipulator approaches robot boundary;
The orientation of manipulator is positioned at certain orientation tolerance;
Contacting between described robot and parts;
Completing of the single step campaign of described robot;
The generation of the motion of described robot;
Can accept the detection of the robot manipulation outside program limit;
Incorrect teaching machine input login; And
The generation of the alarm that user limits.
5. device according to claim 1, wherein said teaching machine is provided to described sense of touch software program by haptic system enabling signal.
6. device according to claim 1, wherein said sense of touch software program comprises haptic events monitor, haptic events processor and haptic effect generator.
7. device according to claim 6, wherein said haptic events processor receives from the signal of described haptic events monitor and by signal and is provided to described haptic effect generator signal is provided to described at least one haptic device when there is described haptic events.
8. device according to claim 7, wherein said at least one haptic device produces described tactile feedback and responds the signal that described haptic effect generator provides by treating described teaching machine by user awareness.
9. device according to claim 1, wherein said at least one haptic device is arranged in the band of described teaching machine.
10. device according to claim 1, wherein said at least one haptic device is arranged in the described housing of described teaching machine.
11. 1 kinds for being provided to tactile feedback in the device of teaching machine, comprising:
Teaching machine, has housing and is arranged in the processor in described housing, and described processor is communicated by letter with robot controller signal, and described robot controller is configured to monitor and control;
Be arranged at least one haptic device on described teaching machine, described at least one haptic device is communicated by letter with described processor signal and is configured to when there is haptic events, tactile feedback is provided to the user of described teaching machine; And
Sense of touch software program, by described processor and at least one in described robot controller, carry out described sense of touch software program to control described processor and communicate by letter with the described signal between described robot controller and described processor is communicated by letter with the described signal between described at least one haptic device, described sense of touch software program has haptic events monitor, haptic events processor, and haptic effect generator, wherein said haptic events processor receives from the signal of described haptic events monitor and by signal and is provided to described haptic effect generator signal is provided to described at least one haptic device when there is described haptic events.
12. devices according to claim 11, wherein said at least one haptic device is in actuator and vibrating motor.
13. devices according to claim 12, wherein said sense of touch software program is stored in in described robot controller and described teaching machine.
14. devices according to claim 11, wherein said at least one haptic device responds by selected tactile feedback being produced to the described teaching machine for the treatment of by user awareness according to predetermined tactile feedback pattern the signal that haptic effect generator provides.
15. devices according to claim 11, wherein said at least one haptic device is arranged in one of the band of described teaching machine and described housing of described teaching machine.
16. devices according to claim 11, wherein said haptic events is one of following items:
Manipulator approaches interference range;
Manipulator approaches robot boundary;
The orientation of manipulator is positioned at certain orientation tolerance;
Contacting between described robot and parts;
Completing of the single step campaign of described robot;
The generation of the motion of described robot;
Can accept the detection of the operation of the described robot outside program limit;
Incorrect teaching machine input login; And
The generation of the alarm that user limits.
17. 1 kinds for providing the method for tactile feedback on teaching machine, comprises the following steps:
By the sense of touch software program that is configured to communicate by letter with robot controller, detect at least one haptic events, described robot controller is configured to control and monitor robot;
Send signal to the haptic device being arranged on described teaching machine, described signal is corresponding with described at least one haptic events; And
By described haptic device, produce tactile feedback by described teaching machine, the described signal that described tactile feedback receives based on described haptic device.
18. methods according to claim 17, comprise and by described sense of touch software program, tactile feedback mode assignments are arrived to the step of described at least one haptic events.
19. methods according to claim 17, wherein said haptic events is at least one in following items:
Manipulator approaches interference range;
Manipulator approaches robot boundary;
The orientation of manipulator is positioned at certain orientation tolerance; Contacting between described robot and parts;
Completing of the single step campaign of described robot;
The generation of the motion of described robot;
Can accept the detection of the described robot manipulation outside program limit;
Incorrect teaching machine input login; And
The generation of the alarm that user limits.
20. methods according to claim 17, wherein said sense of touch software program comprises haptic events monitor, haptic events processor and haptic effect generator, and wherein said haptic events processor receives from the signal of described haptic events monitor and signal is provided to described haptic effect generator signal is provided to described haptic device when there is at least one haptic events.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201261697600P | 2012-09-06 | 2012-09-06 | |
| US61/697,600 | 2012-09-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103659821A true CN103659821A (en) | 2014-03-26 |
| CN103659821B CN103659821B (en) | 2018-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310404564.7A Active CN103659821B (en) | 2012-09-06 | 2013-09-06 | For touch feedback to be provided to the device and correlation technique of teaching machine |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10081109B2 (en) |
| JP (1) | JP6404551B2 (en) |
| CN (1) | CN103659821B (en) |
| DE (1) | DE102013109753A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US10081109B2 (en) | 2018-09-25 |
| JP2014050950A (en) | 2014-03-20 |
| CN103659821B (en) | 2018-01-26 |
| JP6404551B2 (en) | 2018-10-10 |
| US20140067128A1 (en) | 2014-03-06 |
| DE102013109753A1 (en) | 2014-03-06 |
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